I do agree Lynn (how's it going by the way) but again, that's more of a general thing in life, not necessarily, for some, specifically applicable to Aikido technique....
Things are well. No complaints. Thanks for asking. And you?
I have to also agree with you that the correct structural alignment, taking the center, and aimed at a kuzushi point allows control without pain (some discomfort). But to get to that level of finesse,one will probably experience some pain (not damage or injury).
Those who haven't experienced Sensei Novick, I would recommend it. I spent a morning training with him years ago and found that he can walk his talk.
IMHO, to get to the painless perhaps we need to accept and work with the pain rather than trying to avoid it. So let's walk through the pain towards the painless.